General Motors Co. knew more than a decade ago that loose ignition switches caused stalling on far more than its Chevrolet Cobalt and related small cars, redesigning switches in at least three high-volume car families between 2003 and 2006, according to recently disclosed company documents.

The auto maker didn't recall the vehicles until last month, when it disclosed there were three deaths and 14 injuries in accidents involving 11 million vehicles under five different GM brands. Prompted by controversy about delayed recalls...